Vehicular camera system with forward viewing camera

ABSTRACT

A vehicular camera system includes an attaching structure configured to attach at an in-cabin side of a vehicle windshield. A camera module accommodates a circuit board and an imager and the camera module includes a lens aligned with the imager. The attaching structure includes a camera module receiving portion having an opening at a lower portion of the camera module receiving portion. With the attaching structure attached at the in-cabin side of the vehicle windshield, the camera module is inserted upward through the opening and is at least partially received in the camera module receiving portion to attach the camera module at the camera module receiving portion. With the attaching structure attached at the in-cabin side of the vehicle windshield and with the camera module at least partially received in the camera module receiving portion, the imager views through the vehicle windshield and forward of the vehicle.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 16/527,634, filed Jul. 31, 2019, now U.S. Pat. No. 11,124,130,which claims the filing benefits of U.S. provisional application Ser.No. 62/713,082, filed Aug. 1, 2018, which is hereby incorporated hereinby reference in its entirety.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system for avehicle and, more particularly, to a vehicle vision system that utilizesone or more cameras at a vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos. 6,824,281and/or 6,690,268, which are hereby incorporated herein by reference intheir entireties.

SUMMARY OF THE INVENTION

The present invention provides a driver assistance system or visionsystem or imaging system for a vehicle that utilizes one or more cameras(preferably one or more CMOS cameras) to capture image datarepresentative of images exterior of the vehicle, and provides awindshield mounted camera module that comprises a camera unit or imagerassembly having an imager that, when mounted at an in-cabin surface of avehicle windshield, views through the windshield and forward of thevehicle. The camera module may, with an attaching structure attached atthe in-cabin side of the vehicle windshield, be configured to beinserted into a camera module receiving portion of the attachingstructure to attach the camera module at the vehicle windshield. Withthe camera module inserted into the camera module receiving portion ofthe attaching structure attached at the in-cabin side of the vehiclewindshield, a main circuit board of the camera module is verticallyoriented.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system thatincorporates cameras in accordance with the present invention;

FIG. 2 is a lower perspective view of a camera configured for mountingat a vehicle windshield, with the imager circuit board of the cameragenerally vertically oriented when the camera is mounted at the vehiclewindshield;

FIG. 3 is a top plan view of the camera of FIG. 2 , shown with a solid(non-transparent) bracket;

FIG. 4 is a top plan view of the camera of FIG. 2 , shown with atransparent bracket;

FIG. 5 is a side elevation and partial sectional view of the camera ofFIG. 2 ;

FIG. 6 is an enlarged top plan view of the camera of FIG. 2 ;

FIG. 7 is a rear elevation of the camera of FIG. 2 ;

FIG. 8 is a front elevation of the camera of FIG. 2 ;

FIGS. 9 and 10 are upper perspective views of the camera of FIG. 2 ;

FIGS. 11 and 12 are perspective views of another camera module formounting at a vehicle windshield, with the camera having two imagers andlenses viewing forward through the vehicle windshield;

FIG. 13 is a view of a light transmitting aperture established at anon-light transmitting region of the vehicle windshield, whereby theimagers and lenses of the camera module of FIGS. 11 and 12 view throughthe aperture;

FIG. 14 is a top plan view of another camera module for mounting at avehicle windshield, with the camera having a width of less than 100 mm,a depth of less than 65 mm and a maximum height of less than 35 mm;

FIG. 15 is a rear elevation of the camera of FIG. 14 ;

FIG. 16 is a front elevation of the camera of FIG. 14 ;

FIG. 17 is a lower plan view of the camera of FIG. 14 ;

FIG. 18 is a side elevation of the camera of FIG. 14 ;

FIG. 19 is an upper perspective view of the camera of FIG. 14 , shownwith the light shield removed;

FIG. 20 is an upper perspective view of the camera of FIG. 14 , shownwith the light shield;

FIG. 21 is an upper perspective view of the camera of FIG. 14 , shownwith the light shield in phantom;

FIG. 22 is a top plan view of the camera of FIG. 21 ;

FIG. 23 is an enlarged upper perspective view of the camera of FIG. 19 ;

FIG. 24 is a side elevation of the camera of FIG. 19 ;

FIG. 25 is a top plan view of the camera of FIG. 19 ;

FIG. 26 is a rear elevation of the camera of FIG. 19 ;

FIG. 27 is a front elevation of the camera of FIG. 19 ;

FIG. 28 is a bottom plan view of the camera of FIG. 19 ;

FIG. 29 is an upper perspective view of the camera of FIG. 14 , shownmounted at a windshield of a vehicle, and within a housing at thewindshield;

FIG. 30 is a side sectional view of the camera and housing of FIG. 29 ;

FIG. 31 is a top plan view of the camera and housing of FIG. 29 ;

FIG. 32 is a side elevation and partial sectional view of another cameramodule for mounting at a vehicle windshield;

FIG. 33 is a top plan view of the camera of FIG. 32 ;

FIGS. 34 and 35 are upper perspective views of the camera of FIG. 32 ;

FIG. 36 is a lower plan view of the camera of FIG. 32 ;

FIG. 37 is a side elevation and partial sectional view of another camerafor mounting at a vehicle windshield;

FIG. 38 is a top plan view of the camera of FIG. 37 ;

FIG. 39 is an upper perspective view of the camera of FIG. 37 ;

FIG. 40 is a bottom plan view of the camera of FIG. 37 ; and

FIGS. 41 and 42 are upper perspective views of the camera of FIG. 37 asdisposed at the mounting bracket and stray light shield.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or objectdetection system and/or alert system operates to capture images exteriorof the vehicle and may process the captured image data to display imagesand to detect objects at or near the vehicle and in the predicted pathof the vehicle, such as to assist a driver of the vehicle in maneuveringthe vehicle in a rearward direction. The vision system includes an imageprocessor or image processing system that is operable to receive imagedata from one or more cameras and provide an output to a display devicefor displaying images representative of the captured image data.Optionally, the vision system may provide display, such as a rearviewdisplay or a top down or bird's eye or surround view display or thelike.

Referring now to the drawings and the illustrative embodiments depictedtherein, vision system 10 for a vehicle 12 includes at least oneexterior viewing imaging sensor or camera, such as a forward viewingimaging sensor or camera, which may be disposed at and behind thewindshield 14 of the vehicle and viewing forward through the windshieldso as to capture image data representative of the scene occurringforward of the vehicle (FIG. 1 ). Optionally, the system may includemultiple exterior viewing imaging sensors or cameras, such as a forwardviewing camera at the front of the vehicle, and a sideward/rearwardviewing camera at respective sides of the vehicle, and a rearwardviewing camera at the rear of the vehicle, which capture images exteriorof the vehicle. The camera or cameras each include a lens for focusingimages at or onto an imaging array or imaging plane or imager of thecamera. Optionally, the forward viewing camera may be disposed at thewindshield of the vehicle and view through the windshield and forward ofthe vehicle, such as for a machine vision system (such as for trafficsign recognition, headlamp control, pedestrian detection, collisionavoidance, lane marker detection and/or the like). The vision system 10includes a control or electronic control unit (ECU) or processor that isoperable to process image data captured by the camera or cameras and maydetect objects or the like and/or provide displayed images at a displaydevice for viewing by the driver of the vehicle. The data transfer orsignal communication from the camera to the ECU may comprise anysuitable data or communication link, such as a vehicle network bus orthe like of the equipped vehicle.

Referring now to FIGS. 2-10 , the camera module 20 comprises a housingthat houses an imager disposed at an imager printed circuit board. Thecamera module 20 has a lens that images at the imager, and the cameramodule houses a primary or processor printed circuit board, withcircuitry of the imager circuit board electrically connected tocircuitry of the primary or processor circuit board. The camera housingor module is received in or disposed at a bracket or support structure22 that attaches at an attaching structure 24 that attaches at thein-cabin surface of the vehicle windshield. When the bracket 22 isattached at the attaching structure 24 at the windshield, the cameramodule is oriented with the imager circuit board and the processorcircuit board being generally vertically oriented, and with the cameralens 26 (and imager at the circuit board) viewing forwardly through thewindshield via a light trap or shield 28 (and having a field of viewthat spans up to or over 100 degrees). The circuitry of the imagercircuit board is electrically connected to the circuitry of theprocessor circuit board, such as via a flexible electrical connector orribbon cable or the like. Optionally, the camera module may comprise asingle printed circuit board, with the imager disposed at one side and aconnector disposed at the other side and associated circuitry disposedat either or both sides of the circuit board. The rear of the cameramodule has an electrical connector 30 (such as a coaxial connector) forelectrically connecting circuitry of the camera (such as via a headerconnector at a rear side of the processor circuit board that is oppositethe front side that faces the imager circuit board) with a wire harnessof the vehicle. The camera module is electrically connected to an ECUthat is remote from or not part of the camera module, and that has aprocessor for processing image data captured by the camera.

The camera module is configured to attach at the attaching structure orbracket when the bracket is attached at a windshield of a vehicle. Thebracket 24 includes a windshield attaching portion (that may be bondedto the in-cabin surface of the windshield or that may attach at buttonsor elements that are bonded to the in-cabin surface of the windshield)and the camera receiving structure 22 and the stray light shield 28.When attached at the windshield, the receiving structure 22 extendsgenerally vertically (such as within five or ten percent of verticalwhen the structure is attached at the windshield and the vehicle islocated on a horizontal support surface or ground) and downward from theattaching structure and from the windshield and has an open lower end 22a that is configured for receiving the camera module therein (with thewalls of the receiving structure being generally vertically orientedwhen the structure is attached at the vehicle windshield and with thewalls of the receiving structure defining or circumscribing and forminga recess or pocket or receiving portion that is configured to receivethe camera module therein).

In the illustrated embodiment, and as best shown in FIG. 2 , the cameramodule may be inserted upward and into the receiving structure and maybe fastened at the receiving structure or snap-attached therein (such asvia flexible tabs at the receiving structure engaging corresponding tabsor surfaces at the lower region of the camera module to limit downwardmovement of the camera module after it is fully inserted or seated andretained in the receiving structure). The receiving structure 22includes a slot or notch 22 c at its forward side 22 b to allow for thelens 26 of the camera module to move upward along the notch as thecamera module is inserted into the receiving structure. Likewise, thereceiving structure includes a slot or notch 22 e at its rearward side22 d to allow for the electrical connector 30 of the camera module tomove upward along the notch as the camera module is inserted into thereceiving structure. Thus, the camera housing is disposed within thereceiving portion (and may be snapped or fastened therein), while thecamera lens protrudes from the front side or wall of the receivingportion and the electrical connector protrudes from the rear side orwall of the receiving portion.

The camera module comprises a low profile module that is less than 35 mmin height (e.g., about 30.5 mm) and is less than 20 mm in depth (e.g.,about 14 mm) and is less than 45 mm in width (e.g., about 42 mm). Thereceiving structure 22 and stray light shield 28 may be formed togetheror may be attached or joined together, whereby the structure 22 may snapattach or otherwise be secured to the attaching structure 24 at thewindshield. The camera module 20 may be readily inserted into thestructure 22, whereby the lens of the camera module is received alongthe notch or slot 22 c and through an aperture or slot at the lightshield as the module is pressed upward, until the lens is disposed atand viewing through a pocket defined by the light shield and windshield.As shown in FIGS. 6 and 10 , the light shield 28 includes a notch oropening 28 a that allows for upward movement of the lens 26 through thelight shield as the camera is inserted into the receiving structure frombelow the receiving structure and light shield. The electrical connectormay also be received in and along the slot at the rear 22 e of thestructure as the camera module is pressed or inserted into the supportstructure at the windshield. For service, the camera module may bereadily removed and serviced or replaced, without having to remove thesupport structure and light shield.

Optionally, and with reference to FIGS. 11 and 12 , a camera module 120may attach at a mounting structure or attaching structure 123 at thevehicle windshield, and may include two (or more) imagers and lenses 126a, 126 b. The camera module may provide stereo imaging capabilities(where both cameras (imagers and lenses) function in a similar manner),or each camera may function differently. For example, one of the camerasmay capture color video image data during daytime lighting conditionsand the other camera may capture infrared or near-infrared video imagedata during nighttime lighting conditions, so that the camera providesenhanced night vision and enhanced daytime vision (such as by utilizingaspects of the camera systems described in U.S. Publication Nos.US-2017-0113613 and/or US-2016-0119527, which are hereby incorporatedherein by reference in their entireties). Optionally, one of the camerasmay comprise a higher resolution or HD camera and the other camera maycomprise a lower resolution camera or even a thermal imaging camera orthe like. The cameras both view through a common light transmittingaperture formed or established at a non-light transmitting region of thevehicle windshield (see FIG. 13 ).

Optionally, and with reference to FIGS. 14-31 , another camera module220 (that includes an imager and lens and circuitry including aprocessor and other control/processing circuitry) is attached at asupport structure 223, which is configured to attach at the in-cabinsurface of the vehicle windshield and which includes a light shield. Thecamera module 220 comprises a low profile “landscape style” cameramodule having a width of less than 100 mm (e.g., about 96 mm), a depthof less than 65 mm (e.g., about 63 mm), and a maximum height of lessthan 35 mm (e.g., about 32 mm). As can be seen in FIG. 18 , the width ofthe camera module is much greater than the depth or length of the cameramodule. As shown in FIG. 23 , the camera module includes heatdissipating fins at one side of the lens 226 to dissipate heat generatedby the camera during operation (such as heat generated by the dataprocessor in the camera during processing of image data captured by theimager or camera unit or imager assembly).

The camera module may snap attach at the support structure (which mayattach at fixing elements attached at the vehicle windshield) or may befastened thereto via a plurality of fasteners. In the illustratedembodiment, the camera module includes tabs at the front of the modulethat slide into receptacles at the bracket or support structure, wherebythe camera is rotated up so that tabs at the rear of the camera moduleswing up and into receptacles at the bracket or support structure andsnap into the receptacles to retain the camera module at the bracket orsupport structure. When the camera module is attached at the supportstructure, the lens 226 views forward through the windshield via apocket defined by the stray light shield 228 and the windshield. Asshown in FIG. 26 , the camera module may have a coaxial connector and amulti-pin connector to electrically connect the camera module to one ormore wire harnesses of the vehicle. FIGS. 29-31 show the camera moduleas disposed at the vehicle windshield, along with other components ofthe accessory module or system disposed at the vehicle windshield.

Optionally, and with reference to FIGS. 32-36 , another camera module320 is disposed at a structure 323 that is configured to attach at thein-cabin surface of the vehicle windshield. The camera module 320 isdisposed at the structure 323 such that the lens views forward throughthe windshield via a pocket formed by the stray light shield 328 and thewindshield, with the lens having a wide angle field of view at least 100degrees or more. The stray light shield may be part of the camera modulehousing. The camera module 320 comprises a “landscape style” module,where the width of the camera module is greater than the length or depthof the camera module. The camera module may attach to the attachingstructure or bracket in a similar manner as described above.

Optionally, and with reference to FIGS. 37-42 , another camera module420 is disposed at a structure 423 that is configured to attach at thein-cabin surface of the vehicle windshield. The camera module 420 isdisposed at the structure 423 such that the lens views forward throughthe windshield via a pocket formed by the stray light shield 428 and thewindshield, with the lens having a wide angle field of view at least 100degrees or more. The camera module 420 comprises a “portrait style”module, where the length of the camera module is greater than the widthof the camera module. The camera module may attach to the attachingstructure or bracket in a similar manner as described above.

Each of the cameras thus comprises a forward viewing camera or cameramodule disposed at and behind the windshield of a vehicle, such asdisposed at a windshield electronics module (WEM) or at a mountingbracket or the like attached at the windshield. The forward viewingcamera or camera module may utilize aspects of the systems described inU.S. Pat. Nos. 9,896,039; 9,871,971; 9,596,387; 9,487,159; 9,451,138;9,380,219; 8,256,821; 7,480,149; 6,824,281 and/or 6,690,268, and/or U.S.Publication No. US-2016-0264063, which are all hereby incorporatedherein by reference in their entireties.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2013/081984 and/or WO 2013/081985,which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise animage processing chip selected from the EYEQ family of image processingchips available from Mobileye Vision Technologies Ltd. of Jerusalem,Israel, and may include object detection software (such as the typesdescribed in U.S. Pat. Nos. 7,855,755; 7,720,580 and/or 7,038,577, whichare hereby incorporated herein by reference in their entireties), andmay analyze image data to detect vehicles and/or other objects.Responsive to such image processing, and when an object or other vehicleis detected, the system may generate an alert to the driver of thevehicle and/or may generate an overlay at the displayed image tohighlight or enhance display of the detected object or vehicle, in orderto enhance the driver's awareness of the detected object or vehicle orhazardous condition during a driving maneuver of the equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ultrasonic sensors or thelike. The imaging sensor or camera may capture image data for imageprocessing and may comprise any suitable camera or sensing device, suchas, for example, a two dimensional array of a plurality of photosensorelements arranged in at least 640 columns and 480 rows (at least a640×480 imaging array, such as a megapixel imaging array or the like),with a respective lens focusing images onto respective portions of thearray. The photosensor array may comprise a plurality of photosensorelements arranged in a photosensor array having rows and columns.Preferably, the imaging array has at least 300,000 photosensor elementsor pixels, more preferably at least 500,000 photosensor elements orpixels and more preferably at least 1 million photosensor elements orpixels. The imaging array may capture color image data, such as viaspectral filtering at the array, such as via an RGB (red, green andblue) filter or via a red/red complement filter or such as via an RCC(red, clear, clear) filter or the like. The logic and control circuit ofthe imaging sensor may function in any known manner, and the imageprocessing and algorithmic processing may comprise any suitable meansfor processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 9,233,641;9,146,898; 9,174,574; 9,090,234; 9,077,098; 8,818,042; 8,886,401;9,077,962; 9,068,390; 9,140,789; 9,092,986; 9,205,776; 8,917,169;8,694,224; 7,005,974; 5,760,962; 5,877,897; 5,796,094; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978; 7,859,565; 5,550,677; 5,670,935;6,636,258; 7,145,519; 7,161,616; 7,230,640; 7,248,283; 7,295,229;7,301,466; 7,592,928; 7,881,496; 7,720,580; 7,038,577; 6,882,287;5,929,786 and/or 5,786,772, and/or U.S. Publication Nos.US-2014-0340510; US-2014-0313339; US-2014-0347486; US-2014-0320658;US-2014-0336876; US-2014-0307095; US-2014-0327774; US-2014-0327772;US-2014-0320636; US-2014-0293057; US-2014-0309884; US-2014-0226012;US-2014-0293042; US-2014-0218535; US-2014-0218535; US-2014-0247354;US-2014-0247355; US-2014-0247352; US-2014-0232869; US-2014-0211009;US-2014-0160276; US-2014-0168437; US-2014-0168415; US-2014-0160291;US-2014-0152825; US-2014-0139676; US-2014-0138140; US-2014-0104426;US-2014-0098229; US-2014-0085472; US-2014-0067206; US-2014-0049646;US-2014-0052340; US-2014-0025240; US-2014-0028852; US-2014-005907;US-2013-0314503; US-2013-0298866; US-2013-0222593; US-2013-0300869;US-2013-0278769; US-2013-0258077; US-2013-0258077; US-2013-0242099;US-2013-0215271; US-2013-0141578 and/or US-2013-0002873, which are allhereby incorporated herein by reference in their entireties. The systemmay communicate with other communication systems via any suitable means,such as by utilizing aspects of the systems described in InternationalPublication Nos. WO 2010/144900; WO 2013/043661 and/or WO 2013/081985,and/or U.S. Pat. No. 9,126,525, which are hereby incorporated herein byreference in their entireties.

Optionally, the vision system (utilizing the forward viewing camera anda rearward viewing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or bird's-eye view system of the vehicle or a surroundview at the vehicle, such as by utilizing aspects of the vision systemsdescribed in International Publication Nos. WO 2010/099416; WO2011/028686; WO 2012/075250; WO 2013/019795; WO 2012/075250; WO2012/145822; WO 2013/081985; WO 2013/086249 and/or WO 2013/109869,and/or U.S. Publication No. US-2012-0162427, which are herebyincorporated herein by reference in their entireties.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

The invention claimed is:
 1. A vehicular camera system, said vehicularcamera system comprising: an attaching structure configured to attach atan in-cabin side of a vehicle windshield of a vehicle; a camera moduleaccommodating a circuit board and an imager, wherein said camera modulecomprises a lens that is aligned with said imager; wherein saidattaching structure comprises a camera module receiving portiondimensioned to receive said camera module at least partially therein;wherein said camera module receiving portion comprises an opening, andwherein, with said attaching structure attached at the in-cabin side ofthe vehicle windshield, said opening is at a lower portion of saidcamera module receiving portion; wherein, with said attaching structureattached at the in-cabin side of the vehicle windshield, said cameramodule is inserted upward through said opening and is at least partiallyreceived in said camera module receiving portion of said attachingstructure to attach said camera module at said camera module receivingportion of said attaching structure attached at the in-cabin side of thevehicle windshield; and wherein, with said attaching structure attachedat the in-cabin side of the vehicle windshield and with said cameramodule at least partially received in said camera module receivingportion of said attaching structure attached at the in-cabin side of thevehicle windshield, said imager views through the vehicle windshield andforward of the vehicle.
 2. The vehicular camera system of claim 1,wherein, with said attaching structure attached at the in-cabin side ofthe vehicle windshield and with said camera module at least partiallyreceived in said camera module receiving portion of said attachingstructure, said circuit board of said camera module is verticallyoriented.
 3. The vehicular camera system of claim 1, wherein, with saidattaching structure attached at the in-cabin side of the vehiclewindshield, said camera module is vertically inserted upward into saidcamera module receiving portion of said attaching structure.
 4. Thevehicular camera system of claim 1, wherein said camera module receivingportion comprises a slot that extends upward from the opening, andwherein, with said attaching structure attached at the in-cabin side ofthe vehicle windshield, at least a portion of said lens of said cameramodule is received along the slot when said camera module is at leastpartially received in said camera module receiving portion of saidattaching structure.
 5. The vehicular camera system of claim 1, whereina stray light shield is disposed at said attaching structure, andwherein, with said attaching structure attached at the in-cabin side ofthe vehicle windshield, at least a portion of said lens of said cameramodule is received through an aperture through said stray light shieldwhen said camera module is at least partially received in said cameramodule receiving portion of said attaching structure.
 6. The vehicularcamera system of claim 1, wherein said camera module comprises anelectrical connector that electrically connects to circuitry of saidcircuit board, and wherein said camera module receiving portioncomprises a slot that extends upward from the opening, and wherein, withsaid attaching structure attached at the in-cabin side of the vehiclewindshield, said electrical connector is received along the slot whensaid camera module is at least partially received in said camera modulereceiving portion of said attaching structure.
 7. The vehicular camerasystem of claim 1, wherein said circuit board comprises a-an imagercircuit board having said imager disposed thereat.
 8. The vehicularcamera system of claim 1, wherein said circuit board comprises aprocessor circuit board having an image processor operable to processimage data captured by said imager.
 9. The vehicular camera system ofclaim 8, wherein said imager is disposed at an imager circuit boardaccommodated in said camera module, and wherein circuitry of said imagercircuit board is electrically connected to circuitry of said processorcircuit board via an electrical connector.
 10. The vehicular camerasystem of claim 9, wherein, with said attaching structure attached atthe in-cabin side of the vehicle windshield and with said camera moduleat least partially received in said camera module receiving portion ofsaid attaching structure, said imager circuit board of said cameramodule is vertically oriented.
 11. The vehicular camera system of claim9, wherein said camera module receiving portion comprises a slot thatextends at least partially along a front wall of said camera modulereceiving portion and upward from the opening, and wherein said lens isfixed relative to said imager and said imager circuit board, andwherein, with said attaching structure attached at the in-cabin side ofthe vehicle windshield, at least a portion of said lens is receivedalong the slot when said camera module is at least partially received insaid camera module receiving portion of said attaching structure. 12.The vehicular camera system of claim 9, wherein said camera modulecomprises an electrical connector that electrically connects tocircuitry of said processor circuit board, and wherein said cameramodule receiving portion comprises a slot that extends at leastpartially along a rear wall of said camera module receiving portion andupward from the opening, and wherein, with said attaching structureattached at the in-cabin side of the vehicle windshield, said electricalconnector is received at the slot when said camera module is at leastpartially received in said camera module receiving portion of saidattaching structure.
 13. The vehicular camera system of claim 9,wherein, with said attaching structure attached at the in-cabin side ofthe vehicle windshield, said lens of said camera module is received atleast partially through an aperture of a stray light shield when saidcamera module is at least partially received in said camera modulereceiving portion of said attaching structure.
 14. The vehicular camerasystem of claim 8, wherein, with said attaching structure attached atthe in-cabin side of the vehicle windshield and with said camera moduleat least partially received in said camera module receiving portion ofsaid attaching structure, said processor circuit board is verticallyoriented.
 15. The vehicular camera system of claim 8, wherein saidcamera module, with said attaching structure attached at the in-cabinside of the vehicle windshield, and with said camera module at leastpartially received in said camera module receiving portion of saidattaching structure, and responsive to image processing of image datacaptured by said imager, provides an output to at least one drivingassistance system of the vehicle.
 16. The vehicular camera system ofclaim 1, wherein said camera module, with said attaching structureattached at the in-cabin side of the vehicle windshield, and with saidcamera module at least partially received in said camera modulereceiving portion of said attaching structure, captures image data forat least one driving assistance system of the vehicle.
 17. The vehicularcamera system of claim 1, wherein said attaching structure is configuredto be adhesively bonded at the in-cabin side of the vehicle windshield.18. The vehicular camera system of claim 1, wherein said attachingstructure is configured to attach at a plurality of attachment elementsthat are adhesively bonded at the in-cabin side of the vehiclewindshield.
 19. A vehicular camera system, said vehicular camera systemcomprising: an attaching structure configured to adhesively attach at anin-cabin side of a vehicle windshield of a vehicle; a camera moduleaccommodating a circuit board and an imager, wherein said camera modulecomprises a lens that is aligned with said imager; wherein saidattaching structure comprises a camera module receiving portiondimensioned to receive said camera module at least partially therein;wherein said camera module receiving portion comprises an opening, andwherein, with said attaching structure adhesively attached at thein-cabin side of the vehicle windshield, said opening is at a lowerportion of said camera module receiving portion; wherein, with saidattaching structure adhesively attached at the in-cabin side of thevehicle windshield, said camera module is inserted upward through saidopening and is at least partially received in said camera modulereceiving portion of said attaching structure to attach said cameramodule at said camera module receiving portion of said attachingstructure adhesively attached at the in-cabin side of the vehiclewindshield; wherein, with said attaching structure adhesively attachedat the in-cabin side of the vehicle windshield and with said cameramodule at least partially received in said camera module receivingportion of said attaching structure adhesively attached at the in-cabinside of the vehicle windshield, said imager views through the vehiclewindshield and forward of the vehicle; and wherein said camera module,with said attaching structure adhesively attached at the in-cabin sideof the vehicle windshield, and with said camera module at leastpartially received in said camera module receiving portion of saidattaching structure adhesively, captures image data for at least onedriving assistance system of the vehicle.
 20. The vehicular camerasystem of claim 19, wherein said camera module receiving portioncomprises a slot that extends upward from the opening, and wherein, withsaid attaching structure adhesively attached at the in-cabin side of thevehicle windshield, at least a portion of said lens of said cameramodule is received along the slot when said camera module is at leastpartially received in said camera module receiving portion of saidattaching structure.
 21. The vehicular camera system of claim 19,wherein a stray light shield is disposed at said attaching structure,and wherein, with said attaching structure adhesively attached at thein-cabin side of the vehicle windshield, at least a portion of said lensof said camera module is received through an aperture through said straylight shield when said camera module is at least partially received insaid camera module receiving portion of said attaching structure. 22.The vehicular camera system of claim 19, wherein said camera modulecomprises an electrical connector that electrically connects tocircuitry of said circuit board, and wherein said camera modulereceiving portion comprises a slot that extends upward from the opening,and wherein, with said attaching structure adhesively attached at thein-cabin side of the vehicle windshield, said electrical connector isreceived along the slot when said camera module is at least partiallyreceived in said camera module receiving portion of said attachingstructure.
 23. The vehicular camera system of claim 19, wherein saidcircuit board comprises a-an imager circuit board having said imagerdisposed thereat.
 24. The vehicular camera system of claim 19, whereinsaid circuit board comprises a processor circuit board having an imageprocessor operable to process image data captured by said imager. 25.The vehicular camera system of claim 24, wherein said imager is disposedat an imager circuit board accommodated in said camera module, andwherein circuitry of said imager circuit board is electrically connectedto circuitry of said processor circuit board via an electricalconnector.
 26. A vehicular camera system, said vehicular camera systemcomprising: an attaching structure configured to attach at a pluralityof attachment elements that are adhesively bonded at an in-cabin side ofa vehicle windshield of a vehicle; a camera module accommodating acircuit board and an imager, wherein said camera module comprises a lensthat is aligned with said imager; wherein said attaching structurecomprises a camera module receiving portion dimensioned to receive saidcamera module at least partially therein; wherein said camera modulereceiving portion comprises an opening, and wherein, with said attachingstructure attached at the plurality of attachment elements that areadhesively bonded at the in-cabin side of the vehicle windshield, saidopening is at a lower portion of said camera module receiving portion;wherein, with said attaching structure attached at the plurality ofattachment elements that are adhesively bonded at the in-cabin side ofthe vehicle windshield, said camera module is inserted upward throughsaid opening and is at least partially received in said camera modulereceiving portion of said attaching structure to attach said cameramodule at said camera module receiving portion of said attachingstructure attached at the plurality of attachment elements that areadhesively bonded at the in-cabin side of the vehicle windshield;wherein, with said attaching structure attached at the plurality ofattachment elements that are adhesively bonded at the in-cabin side ofthe vehicle windshield and with said camera module at least partiallyreceived in said camera module receiving portion of said attachingstructure attached at the plurality of attachment elements that areadhesively bonded at the in-cabin side of the vehicle windshield, saidimager views through the vehicle windshield and forward of the vehicle;and wherein said camera module, with said attaching structure attachedat the plurality of attachment elements that are adhesively bonded atthe in-cabin side of the vehicle windshield, and with said camera moduleat least partially received in said camera module receiving portion ofsaid attaching structure, captures image data for at least one drivingassistance system of the vehicle.
 27. The vehicular camera system ofclaim 26, wherein said camera module receiving portion comprises a slotthat extends upward from the opening, and wherein, with said attachingstructure attached at the plurality of attachment elements that areadhesively bonded at the in-cabin side of the vehicle windshield, atleast a portion of said lens of said camera module is received along theslot when said camera module is at least partially received in saidcamera module receiving portion of said attaching structure.
 28. Thevehicular camera system of claim 26, wherein a stray light shield isdisposed at said attaching structure, and wherein, with said attachingstructure attached at the plurality of attachment elements that areadhesively bonded at the in-cabin side of the vehicle windshield, atleast a portion of said lens of said camera module is received throughan aperture through said stray light shield when said camera module isat least partially received in said camera module receiving portion ofsaid attaching structure.
 29. The vehicular camera system of claim 26,wherein said camera module comprises an electrical connector thatelectrically connects to circuitry of said circuit board, and whereinsaid camera module receiving portion comprises a slot that extendsupward from the opening, and wherein, with said attaching structureattached at the plurality of attachment elements that are adhesivelybonded at the in-cabin side of the vehicle windshield, said electricalconnector is received along the slot when said camera module is at leastpartially received in said camera module receiving portion of saidattaching structure.
 30. The vehicular camera system of claim 26,wherein said circuit board comprises a-an imager circuit board havingsaid imager disposed thereat.
 31. The vehicular camera system of claim26, wherein said circuit board comprises a processor circuit boardhaving an image processor operable to process image data captured bysaid imager.
 32. The vehicular camera system of claim 31, wherein saidimager is disposed at an imager circuit board accommodated in saidcamera module, and wherein circuitry of said imager circuit board iselectrically connected to circuitry of said processor circuit board viaan electrical connector.